On the Output Regulation for an Underactuated Inverse Pendulum When the Exosystem Is a High-Gain Observer.

This paper is devoted to solving the output regulation problem on the basis of the new Francis equations for arbitrary reference/disturbance signals, whose model are obtained by High-Gain observers, providing in this way, the regulation of unmodeled but measurable reference signals. The design is given by fixing a steady state globally attractive by means of LMIs which allows controlling the decay rate by considering input bounds; while the regulation problem is solved by computing the steady-state input based on a modified set of the regulation equations, when the exosystem is constructed upon High-Gain observers, extending in this way, the classical output regulation theory for unmodeled reference/disturbance signal. The Furuta pendulum is used to illustrate the viability of the proposed approach.